Angle tracking control for double-joint dexterous hand systems based on a piecewise extended state observer

Ling Zhao, Xin Liu, Jinhui Zhang*, Tao Wang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)

Abstract

In this paper, an angle tracking control method is introduced for a double-joint dexterous hand system. The double-joint dexterous hand system is driven by pneumatic artificial muscles. A piecewise extended state observer is proposed to estimate disturbance and uncertainty. In addition, a proportional–derivative controller by incorporating the disturbance estimates is proposed to improve angle tracking precision and disturbance rejection abilities. The convergence of the piecewise extended state observer is analyzed and the stability conditions are presented. Finally, simulation and experimental results show that better estimation performances are obtained by the piecewise extended state observer than a linear extended state observer or a nonlinear extended state observer, and the angle tracking precision and disturbance rejection abilities are improved by applying the proposed method.

Original languageEnglish
Article number104754
JournalControl Engineering Practice
Volume110
DOIs
Publication statusPublished - May 2021

Keywords

  • Double-joint dexterous hand system
  • Piecewise extended state observer
  • Pneumatic artificial muscles
  • proportional–derivative controller

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